mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.6 KiB
C++
79 lines
1.6 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#include <cstdio>
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#include <unistd.h>
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#include <fcntl.h>
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#include <cstdlib>
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#include <AP_Common/AP_Common.h>
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#include "RCInput_Navio2.h"
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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#define RCIN_SYSFS_PATH "/sys/kernel/rcio/rcin"
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void RCInput_Navio2::init()
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{
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for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
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channels[i] = open_channel(i);
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if (channels[i] < 0) {
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AP_HAL::panic("[RCInput_Navio2]: failed to open channels");
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}
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}
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}
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void RCInput_Navio2::_timer_tick(void)
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{
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if (AP_HAL::micros() - _last_timestamp < 10000) {
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return;
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}
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char buffer[12];
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for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
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if (::pread(channels[i], buffer, sizeof(buffer) - 1, 0) <= 0) {
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/* We ignore error in order not to spam the console */
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continue;
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}
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buffer[sizeof(buffer) - 1] = '\0';
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periods[i] = atoi(buffer);
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}
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_update_periods(periods, ARRAY_SIZE(periods));
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_last_timestamp = AP_HAL::micros();
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}
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RCInput_Navio2::RCInput_Navio2()
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{
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}
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RCInput_Navio2::~RCInput_Navio2()
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{
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}
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int RCInput_Navio2::open_channel(int channel)
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{
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char *channel_path;
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if (asprintf(&channel_path, "%s/ch%d", RCIN_SYSFS_PATH, channel) == -1) {
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AP_HAL::panic("[RCInput_Navio2]: not enough memory");
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}
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int fd = ::open(channel_path, O_RDONLY|O_CLOEXEC);
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free(channel_path);
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return fd;
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}
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#endif
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